On Di, 2026-01-27 at 16:59 +0800, Luca Toniolo wrote:
>
> // Load the existing kinematics module
> void *handle = dlopen("trivkins.so", RTLD_NOW);
> kinematicsInverse_t kins_inverse = dlsym(handle,
> "kinematicsInverse");
>
> // Call it directly
> kins_inverse(&world, joints, ...);
> Pros: Uses exact same binary
> Cons: Only works in uspace builds, needs careful handling of HAL
> context
>
> Thoughts?
>
it should be trivially possible to build 2 versions of the same source,
one for the "realtime" part and one for userspace. otoh it doesn't look
like rtai is receiving much development, unfortunately, Paolo
Mantegazza, the main driving force behind it passed away a year ago.
so for me, uspace-only is the way to go (most modern hardware
interfaces like ethernet mesa cards or ethercat also currently need a
uspace build). but maybe somebody who knows what is happening in the
rtai world can chime in.
I have never seen a xenomai linuxcnc system, but afaik there the
realtime stuff also runs in a kind of "normal" userspace and has no
problems with c++.
--
Robert Schöftner <[email protected]>
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